WO2022218628A1

WO2022218628A1 - Loading device for exchanging tools of a tool magazine on a machine tool, and method for exchanging tools on a tool magazine

Info

Publication number: WO2022218628A1
Application number: PCT/EP2022/056516
Authority: WO
Inventors: Michael Trenkle; Axel Kienberger
Original assignee: Deckel Maho Pfronten Gmbh
Priority date: 2021-04-12
Filing date: 2022-03-14
Publication date: 2022-10-20
Also published as: DE102021109037A1

Abstract

The present invention relates to a loading device (BV) having: a movable transfer device (14) comprising a manipulator segment (16), for transferring tools (W) to a tool magazine (M) of a machine tool (WM); a provision station (7) for providing tools for the movable transfer device (14); and an engagement device (20) mounted between the provision station (7) and the tool magazine (M) on the loading device (BV). The transfer device (14) is designed so as to be movable back and forth along a movement path between a first tool-exchange position (WWP1) for tool exchange with the provision station (7) and a second tool-exchange position (WWP2) for tool exchange with the tool magazine (M), and so as to change, during the movement and by interacting with the engagement device (20), the orientation of the manipulator segment by a rotational transfer angle (ÜW).

Description

Loading device for changing tools in a tool magazine on a machine tool and method for changing tools on a machine

tool magazine

The present invention relates to an integrable loading device for changing tools on a tool magazine, in particular on a chain magazine of a machine tool, in which the tool to be changed is transported at least partially automatically by a movable transfer unit and a driver attached to a gripping device and for use in the tool magazine and/or a further transport unit is oriented by a pre-defined transfer angle of rotation.

Background of the Invention

Due to increasingly complex work processes and the resulting requirement of current machine tools to be able to access the maximum number of possible, high-performance machining tools, the dynamic exchange of stored tools within the respective machine magazine has become a process step of the highest relevance, especially due to the usually limited storage capacity developed. As a result, automatable tool loading devices in particular, which can both independently remove replaceable tools and insert them into a corresponding magazine in a targeted manner, are of great importance within many currently known processing systems.

Generic well-known from the prior art loading devices for the storage or provision of tools for tool magazines, in particular chain and wheel magazines, here usually include one or more exchange actuators, as an example, EP 1260754 A2 should be mentioned, in which a special is described for the import of machining insertion tool in a chain magazine designed tool carrier slide. A tool to be changed can first be positioned manually on a tool carrier holder connected to a scissor-joint mechanism and moved to a corresponding receptacle within the chain magazine with a feed movement.

Despite constant further development of existing loading devices, however, the problem still occurs in most systems according to the prior art that, in particular due to the increasingly complex arrangements of the tool magazines, a fully automated tool change process that can also be adapted to a respective magazine is only possible rarely remains feasible. For example, precisely fitting tool changes with the holders of a magazine, based on predefined DIN specifications within the tool geometry, require precise alignment and thus reorientation of each tool to be changed. At the same time, the magazines for conventional loading devices, which are usually implemented compactly in the machine tool, require long, complex and therefore inefficient travel paths, especially for large operating systems, so that in many cases at least a manual tool exchange, despite possible additional effort and additional safety risk on the part of the processor concerned, is a fully automatic one is preferred.

One object of the present invention is therefore to provide a loading device that is as adaptable and fully automated as possible and a method for the automated changing of tools by means of an adaptable loading device, which solve the above-mentioned problems from the prior art and which make it possible to change To distribute tool within the automated process as efficiently and space-saving as possible to a plurality of recordings of a machine tool magazine or to remove tool stored in this magazine for a planned tool exchange. In addition, it is a particular object of the invention to achieve the above-mentioned tool orientation of the tool to be changed during the change process. process so that it can be introduced as optimally as possible into the magazine provided for this purpose at the point of contact with the magazine or a further processing element.

Detailed description of the invention

To solve the above problem, the features of the independent claims are proposed. The dependent claims relate to preferred embodiments of the present invention.

The loading device for changing tools with a magazine of a power tool can produce at least one staging station for the input and removal of tools to be loaded or removed from the magazine, as well as one set up for tool exchange between the staging station and the corresponding tool magazine Include transfer device. The present invention thus preferably forms an at least two-part device system which, with the aid of a first device (the supply station), enables the desired tool to be removed from the loading device and/or added and, on the basis of a second, preferably independently acting device (the transfer device ) to realize an exchange of the tools made available by the supply station and the tool magazine that is as efficient and automated as possible.

For an effective tool change between the supply station and the tool magazine, the transfer device can be aligned to be movable between the two aforementioned elements at least on a predefined travel path, for example along a rigidly aligned guide rail, so that tools to be changed require minimal energy consumption and sometimes automatable control mechanisms who can be transported. Likewise, in particular for the preferred alignment of the above-mentioned travel path, the delivery station can also preferably have an in a particularly preferred case, have a movement mechanism aligned transversely to the direction of movement of the transfer device, which enables a three-dimensional positioning of the tool to be exchanged and thus a possible space-saving and adaptable connection of the loading device to the respective tool magazine.

In addition to this extremely efficient device geometry designed to automate the tool changing process, the present loading device can also have a number of specific alignment elements, in particular to solve the tool orientation problems mentioned above, which are set up to introduce the tool to be changed more precisely to precisely orientate the recordings of the supply station and the tool magazine. The aforementioned transfer device can preferably also have at least one manipulator segment, also called manipulator, which can be pivoted about at least one manipulator axis of rotation, which, for example via a gripper arm integrated in this manipulator segment, has one or more positions in the supply station or the tool magazine ned tools (or deliver them to these elements), as well as tools picked up by the manipulator segment during the process of the transfer device can be transported safely along a predefined trajectory. Another gripping device attached along the travel path of the transfer device can also, in a particularly preferred case, be able to interact with the aforementioned manipulator segment during the movement of the transfer device, whereby, preferably by pivoting the manipulator segment along the at least one Manipulator axis of rotation and at least one predefined transfer angle of rotation, at least one tool held using the manipulator segment can be reoriented.

Thus, the present loading device can preferably be configured in such a way that for the input of one or more new tools to be added to the corresponding tool magazine, each of these tools first for safe Transfer to the loading device, handed over to the ready station 11 and, if necessary, can be made available for the subsequent transfer device using a movement mechanism integrated within the ready station 11. Such a transfer device can subsequently be able, in a preferred second step, to pick up at least one of the tools provided by the supply station by means of the integrated manipulator segment and to transport it by moving the transfer device along the specified travel path in the direction of the tool magazine . In addition, however, the engagement device positioned on the aforementioned travel path can be set up to orientate the tool transported within the manipulator segment, preferably through specific interactions with the manipulator segment, into a new direction required for introduction into the tool magazine, so that the transfer device first res tool can ultimately be transferred precisely and efficiently into the receptacle of the corresponding magazine. To ensure that tools can be changed on both sides, the process for storing tools in the tool magazine can of course preferably also be controlled in reverse, so that the loading device is equally capable of removing tools from the at least one tool magazine and transporting and handing them over to the Be mobilization station to make a user for further processing, such as for further repair or inventory analysis, accessible.

This configuration of a loading device for a magazine of a machine tool thus provides an extremely efficient, fully automatable method for providing and storing tools that can sometimes be used universally for any tool magazine that can at least be contacted externally. In particular, the process patterns of the independently acting supply station and the transfer device implement a method that is more adaptable compared to the technology and at the same time more effective for automatic tool change: Since both the supply station and the transfer device use independent movement mechanisms, it is possible it is possible, for example, to input and output a corresponding tool in or from the loading device no longer have to be carried out directly or in the vicinity of the corre sponding tool magazine, but rather to relocate this equally decentralized to an interaction site remote from the operation of the respective machine tool. In particular, this has the consequence that not only does the security of any user interacting with the loading device increase significantly, but the design of the loading device can also be adapted in such a way that it takes up only a minimal work surface. For example, by initially aligning the ready station vertically, the travel path of the transfer device and the associated guide construction can be shifted above the actual height of the machines used, so that the work surface below the travel path can continue to be used. In addition, the present loading device also has the advantage due to the above-mentioned design and the automatic adjustment of the tool alignment on the part of the at least one additional engagement device, to ensure an adaptable to the respective tool magazine and thus universally usable in and out system. In contrast to systems in which tools to be exchanged have to be specifically aligned manually for precise insertion into a magazine, it is possible in the present device to carry out such alignments both automatically and in relation to a standard dimension required by the respective magazine. so that the present invention can be compatible and applicable with any externally contactable tool magazine. Ultimately, the present loading device can therefore also be used explicitly as a universal loading device due to the above-mentioned properties, which enables an optimal and cost-effective possibility for the uniform and efficient exchange of tools, in particular in companies equipped with different machine tools.

In a preferred embodiment of the present invention, the loading device claimed can be initially at least two mutually contact-oriented and made of resilient materials such as steel, stainless steel, or aluminum carbon fiber reinforced plastic include existing support structures, which are preferably set up to carry the functional elements of the loading device and thus define the geometric shape of the latter. The term "support structure" should under no circumstances be understood as a limiting property and should, for example, only be limited to horizontally oriented components, but on the contrary convey that the basic structure of the loading device in question consists of several, aligned in all possible directions, supporting elements can exist. The existing support structures can be particularly preferably modularly exchangeable and/or adjustable in size along at least one longitudinal axis, for example by means of a telescopic or modulatable framework structure, so that the loading device and the associated travel paths of the devices already mentioned above can be optimally adapted to the specifications, the i.e. interfaces, contact points or other conditions directed to the loading device for efficient tool transfer, of a respective tool magazine can be adapted. For a particularly stable and thus energy and load-efficient construction, the support structure can also be configured in such a way that at least one vertical and/or one horizontal movement of existing elements of the loading device is made possible, whereby, especially in the particularly preferred cases, the loading device can also be attached directly and supportively to the machine tool or the tool magazine, enabling a structure that is both efficient to construct and to modify.

The delivery station, as one of the essential elements of the loading device, can preferably be attached to at least one of the support structures and can be provided with a series of control elements for a particularly effective automatic tool exchange. For example, the supply station can preferably have an interface for interacting with other tool transport units that are preferably operated automatically, so that the input and output of tools at the supply station can also take place without the intervention of a another user can take place. For this purpose, the delivery station can be set up, for example, with at least one tool loaded transport vehicles, both those that are guided independently by a user, as well as driverless vehicles using predefined interaction elements, such as docking sections, latching or groove structures, to the delivery station positioning and using a predefined transmission mechanism to transfer tools in a well-defined manner from the supply station to this transport unit and back. In this respect, it can preferably also be possible to integrate the loading device presented into a fully automatic industrial plant with a large number of machine tools that communicate with one another and exchange tools.

With regard to the transport of tools to be exchanged, the staging station can also include at least one tool staging bar that can be moved along a predefined path and accommodates at least one tool, which enables the staging station to dynamically move the picked-up tool along a preparation process Rwegs to transport at least between a first ready position for removing and handing over tools to the loading device, for example for a user or the above transport units, and a second ready position for tool change sel with the later specified transfer device and back. Due to the additional degrees of freedom generated in the staging station, the loading device is thus able to divide the transport path of a tool to be changed into at least two parts that can be controlled independently of one another (a first part from the staging station and a second one via the movement of the subsequent transfer device). , whereby the tool change process can be designed even more effectively: On the one hand, with this at least two-part system, it is possible to significantly reduce the working time of successive change processes, since, for example, during the loading and moving of the tool supply bar, a tool that has already been handed over to the transfer device is simultaneously passed through the Transfer device introduced into the tool magazine or something can be removed from this -g- can. On the other hand, the present feature also enables the traversing path of the tool to be exchanged, as already described, to be adapted even more efficiently to the circumstances and conditions of the present working environment, so that the present invention ensures maximum flexibility with regard to the spatial design of the loading device. In a particularly preferred embodiment, the tool supply bar of the supply station can therefore also be configured in such a way that the supply travel path mentioned above is preferably aligned vertically, which means that the work station underneath continues to be optimal due to a travel path of the transfer device that can be shifted upwards can be used.

In addition, in a particularly preferred embodiment, for the efficient exchange of tools with the transfer device or at the supply station, the tool supply bar can have a plurality of supply holders, which enable tools to be exchanged to be positioned in a well-defined manner on the tool supply bar and thus with the Automation of the tool change process due to tool locations that are preferably defined and thus quick to analyze for an automation system.

The provision mounts themselves can preferably be present as a mount structure, but in a further exemplary embodiment they can also be present simply as a cavity that is precisely shaped for the respective tool holders of the tools or as a mount device equipped with a special locking mechanism. For example, the provision holders can be provided with a latching mechanism, which securely fixes a tool inserted into the provision holder after it has been entered into the tool provision bar and can be released again after transport to at least the first or second provision position for simplified removal. In addition, it may be possible that the provision holders are already provided with an internal alignment system. In a preferred embodiment, the provisioning fixtures can therefore be set up already inserted To orient tools, for example with a holder geometry adapted to the tool holder of the respective tool and an integrated suitable turning and locking mechanism, in a predetermined angular orientation, preferably rotatable along the longitudinal axis of the tool, and to fall into the aforementioned secure state when a desired orientation is obtained . Such a process makes it possible to orientate the tool inserted in the ready station not only before it is transferred to the transfer device, but also to orientate this orientation depending on the respective type of holder of a tool to be exchanged (for example, the latter can Tools have a steep, a hollow shank gel or any other cone shape) to carry out, which in particular allows a unified transfer and associated acceleration of the overall change process to be effected.

In order to change tools between the tool supply bar and the transfer device, the supply holders can also be configured in such a way that at least one tool interface specified for interaction with the transfer device is exposed on a tool to be changed, or at least part of the corresponding tool holder is provided for contacting the latter transfer device becomes. In particular, this makes it possible for tools held in the tool staging bar to be removed from and/or added to the tool staging bar by efficient mechanical interactions at least with the transfer device.

For example, the transfer device can preferably be set up in such a way that, with at least one manipulator segment attached to the transfer device, it is able, in particular by contacting and receiving at least one tool to be exchanged, to remove a respective tool from the tool supply bar and/or to remove it in a targeted manner handed over to one of the appropriate provision holders. To this end In a particularly preferred embodiment, the manipulator segment can include, for example, a mechanical, pneumatic or electric gripper arm, but also any other type of effector element, which ensures that the tool is picked up safely and appropriately for tool transport along the travel path of the transfer device. As a result, the transfer device can preferably be set up in such a way that, with the help of the mani pulator segment, more precisely the gripper arm integrated there, a tool positioned in the tool supply bar can be used to remove a tool from the tool supply bar, preferably if the tool supply bracket is in the second provision position is present, contacted at the above-mentioned tool interface or supporting encloses and ent removed by further mechanical process at least the manipulator segment and / or the tool supply bar from the supply holder.

For the efficient transfer of tools from and to the transfer device, the manipulator segment can also preferably be rotatable at least about a transfer axis and be translationally movable along a movement axis that acts independently of the travel path of the transfer device. In a particularly preferred exemplary embodiment, the transfer device can, for example, have, at least in addition to the manipulator segment mentioned above, a transfer base body set up to set the movement pattern of the manipulator segment, which, by being coupled to the manipulator segment, aligns the latter more movably and thus Positioning of recorded tools can equip with additional degrees of freedom. In this respect, it is also possible in the present loading device not only to adapt its overall geometric structure, but also the transfer device specified for tool changing to the respective machine tool or the tool magazine in such a way that the tool change can be carried out as optimally as possible on one of the magazines. In order to further increase the adaptability of the transfer device, the manipulator segment of the transfer device can also preferably be positioned so that it can be removed and is seated on the transfer base body. In this way it is thus possible to detach the manipulator segment quickly and effectively from the transfer device, for example in the event of a repair, for readjustment of certain control elements or even for the replacement of one of the two elements. At the same time, the transfer body can be equipped with a series of controllable guide elements, for example motor-driven and in horizontally and/or vertically aligned linear guides, swivel guides or other movement elements set up for moving at least parts of the transfer body, which allow the freedom of movement of the transfer body made possible in this way to be transmitted at least in part to the manipulator segment and thus to realize specific movement patterns of the manipulator segment that can be controlled in particular for automating.

For the same reason, the manipulator segment of the transfer device can also preferably be aligned at least during the exchange of tools with the delivery station in a manipulator orientation predefined by the transfer device, which allows the manipulator segment in particular with specific alignments of the tools within the tool delivery bar or, for example to be optimally positioned within the deployment brackets due to structural specifications.

If at least one tool to be exchanged is now picked up using the manipulator segment described above, the transfer device as a whole, i.e. together with the manipulator segment and the at least one tool picked up in it, can preferably be configured in a next step, at least along the already mentioned travel path of the position set up for the tool change with the preparation I u ngs station, hereinafter also referred to as the first tool change position, to at least a second tool change position for changing the tool with the respective tool to proceed tool magazine. For this purpose, the transfer device can, for example, comprise further guide elements, for example motorized roller or sliding guides, which, with the aid of an additional guide rail, preferably also mounted on a support structure and defining the travel path of the transfer device, allow the transfer device to be moved along the previously mentioned guide rail to guide the travel path. In a particularly preferred exemplary embodiment, the transfer device can of course also be set up so that these elements can be used to move the above-mentioned travel path not only from the first to the second tool change position, but also back.

The travel path of the transfer device itself can preferably be freely adaptable to the structure of the respective tool magazine in the present loading device, as is also the case with the delivery travel path of the tool delivery bar already described. Preferably, however, this travel path and/or the guide rail defining the travel path can be aligned at least transversely to the travel direction of the tool supply bar, so that the tool to be loaded has a right-angled and therefore, as already described, maximum efficient trajectory as the overall path within the loading device .

In addition, the engagement device can be arranged, preferably along the travel path of the transfer device, i.e. between the aforementioned first and second tool changing position, and, in a particularly preferred case, contacted on the corresponding guide rail. As already described, it is the object of the present invention to implement an adaptable loading device for effective and at the same time automated tool changing on an ideally arbitrary tool magazine. However, a problem that has always existed with such a loading device was that, due to structural differences, particularly those determined by DIN specifications, within current tool holders (see, for example, DIN 69893), the introduction of a conventional tool magazine into the holder of the respective tool holder Magazine precisely aligned reorientation of the tool needed. This object is now achieved in the present invention by the introduction of the gripping device, in that the gripping device rotates or, preferably, pivots the tool transported with the help of the transfer device during the movement of the transfer device by at least one transfer rotation angle aligned along the longitudinal axis of the respective tool.

For this purpose, the above-mentioned engagement device can, in a particularly preferred exemplary embodiment, comprise at least one movable driver, which is set up for the previously described reorientation of the tool to be changed, at least by pivoting the manipulator segment holding this tool and the associated entrainment of the tool carry out the same transfer angle of rotation. In this case, drivers can be understood in particular as those machine parts which make it possible to interact with the manipulator by at least one movement independent of the manipulator segment and thus to generate the pivoting of the manipulator segment described above.

In a preferred exemplary embodiment, the movable carrier can, for realizing this mechanism, comprise, for example, an engaging section that is compatible with a pivoting element attached to the manipulator segment. The engagement section can be set up in such a way that during and/or as a result of the movement of the transfer device along the travel path and the resulting approach of the manipulator segment or the specifically attached pivoting element to the engagement device, the pivoting element first enters the engagement section of the driver intervene and can thus bring about at least temporary contact between the intervention device and the manipulator segment. This contact can preferably then be used in order to pivot the manipulator segment, and thus the carried tool, about the desired transfer angle of rotation. For this purpose, the movable driver can, for example, use mechanical forces emanating from the movable driver itself in order to ultimately realign the manipulator segment: On the one hand, it can preferably be possible, please include a power machine attached to the driver and externally controllable, such as such as introducing an electrically, pneumatically, thermally or chemically driven motor together with the necessary joints in order to generate corresponding pivoting forces. In a particularly preferred embodiment, however, the movable driver can also, at least additionally, use the movement of the transfer device caused by the movement of the tool during transport in order to achieve such an effect. In particular in such an embodiment it is thus possible to realize the realignment of the corresponding tool to a particularly effective extent, since in the latter case no active alignment elements are implemented and the energy and cost efficiency of the present invention can thus be increased by far.

Such a case can, for example, preferably be produced by the fact that the movable driver can likewise be pivoted about at least one driver axis of rotation, preferably aligned transversely to the travel path of the transfer device. In addition, the axis of rotation of the manipulator segment, described below as the manipulator axis of rotation, can be aligned transversely to the driver axis of rotation just mentioned and set up so that, by pivoting the movable driver about the driver axis of rotation, the manipulator segment can also rotate about the manipulator axis of rotation, preferably directly about at least the a transfer rotation angle is pivoted. To pass on any forces caused by the movement of the transfer device, a torque transmission that transmits force about several axes, similar to a bevel gear, can be used in particular, whereby a force transmission system that can be used as flexibly as possible and can be used for individual adaptation to the respective transfer device geometry can be implemented . However, the force required to pivot the manipulator segment can preferably be generated by this system with the help of restoring forces generated by moving the transfer device on the movable driver. For example, at least through the contacting of the engagement section of the movable driver with the pivoting element of the manipulator segment during the further movement of the transfer device, a torque that prevents and/or even opposes the movement of the transfer device from a predefined point in time can be generated, which moment prevents the continuation of the transport movement of at least the manipulator segment through interactions, for example of a mechanical, pneumatic, steric or electrical nature, and can generate corresponding counter-forces to be used for pivoting the manipulator segment. In this respect, the present loading device can preferably include an intervention device designed to set the transfer angle of rotation, which uses at least parts of the movement energies of the moving transfer device and thus passively, i.e. without using its own energy, as well as automatically pivoting the the manipulator segment contained in the transfer device and the tool to be loaded. This has the particular advantage that the last-mentioned tool can not only be aligned at least during transport between the first and second tool change position and thus dynamically, i.e. without the need to hold the transfer device, but also no further sensors or the like Dimensional elements must be required, since the pivoting element can also be set up in such a way that it always intervenes in the pivoting element by approaching a specific position within the travel path of the transfer device and can thus produce the desired pivoting. In this respect, in a particularly preferred exemplary embodiment, it may also be possible to configure the engagement device in such a way that the swiveling of the manipu lator segment around the at least one transfer angle of rotation is not only used to move the transfer device from the first to the second tool change position, but also back, preferably However, contrary to the original pivoting movement around the manipulator axis of rotation, is realized. In addition, the transfer device of the present loading device can preferably also be set up for the transfer angle of rotation of the manipulator segment, for example in the event of a change within the tool holders used, an integration of the loading device into a new machine system or a fine adjustment of the angle, preferably for each to be changed To redefine the tool, but the size of the transfer angle of rotation can be at least in an interval of 15° to 90°, in a preferred case in particular 30° to 60°. For this purpose, additional special adjustment elements can be attached to the transfer device and/or the engagement device, for example, which are at least dependent on the type of tool to be changed (e.g. milling, drilling or cutting tools) and its original orientation , are able to determine and set an optimal transfer angle for the tool change with the respective tool. Contrary to known loading devices, it is thus possible to specify the adjustment of the tool orientation to each tool to be changed, which means that the present invention not only has a maximum degree of adaptability or compatibility (especially since each tool, depending on the respective machine system, determines structural requirements), but also internal tool change problems caused by faulty adjustments can be reduced to a minimum.

To implement the above adjustment system, the adjustment elements described above can preferably be connected to a sensor system integrated within the loading device for precise identification of the respective tool to be changed and measurement of tool parameters required for determining the optimum transfer angle. In a particularly preferred exemplary embodiment, the sensor system can already be present during the input, but at least during the transport of the tool to be changed in the ready station and/or the transfer device. Identify the individual tool properties, such as at least the above-mentioned tool type or the orientation of the tool in the transfer device, and then forward these to the adjustment elements for calculating the optimal transfer angle for the respective tool change. The identification of the tool to be changed by the sensor system can preferably be carried out mechanically, electrically, but particularly preferably optically, so that an interaction with the tool and potential damage resulting therefrom can be reduced to a minimum. In addition, it may also be possible to use the sensor system to determine other tool properties that are primarily required for tool operation, such as the condition or the degree of wear of the tool in the loading device, so that the present invention can be used to increase the effectiveness of the machining process on the machine and can therefore be used as an additional improvement to the machine system.

With regard to the adjustment elements provided for setting the optimal transfer angle of rotation, in the present invention, an adjustment element can also be understood as any such machine element which, at least through interaction with the transfer device and/or the engagement device, causes a change in the above-mentioned manipulator-driver interaction and so on repetitively and ensuring the desired result, can realize the handover rotation angle when pivoting the manipulator segment to a prescribed size. The setting of the transfer angle of rotation itself can preferably be carried out mechanically, electrically or pneumatically, but preferably also from a combination of the latter. For example, at least one preferably modifiable transfer energy store can then be attached to the transfer device as an adjustment element, at least in the event that the pivoting movement of the manipulator segment, as described above, is caused by the movement of the transfer device, which is set up to at least depend on the desired transfer angle of rotation set by an energy stored in the transfer energy store. The term should "Energy storage" should not be understood as being limited to just one type of energy, such as electrical energy, but rather as a general storage module to be used for storing any type of energy, i.e. also at least mechanical, chemical or thermal energy.

Such an energy store can have the particular advantage of setting the transfer angle of rotation for each tool to be exchanged to a defined value by means of a precise and at the same time accurately controllable change in the stored energy, equivalent to a predetermined decrease and/or increase in the latter. A first example of such a preferred energy cell is a battery, a semiconductor cell or any other electrical storage unit that interacts with the manipulator segment in such a way that at a certain energy, here the amount of charge present in the battery, the The manipulator segment (and thus the tool carried) can only be pivoted by the movable driver by a defined transfer angle. In addition, it can preferably also be possible for the loading device to withdraw the energy stored in the transfer energy store again to a defined extent or to store more in it, so that a precise tool orientation system that can be adapted and automated, in particular for the tool change process, can be implemented .

As a second example, which in this case serves to explain a preferred mechanical energy cell, a compression spring system that is in contact with the manipulator segment can also be used as an energy cell, which can allow, preferably depending on the degree of expansion of the spring (equivalent to the stored potential energy) to allow the manipulator segment to only pivot by a predefined transfer angle during the pivoting process. Such a mechanical system can in particular have the advantage of being able to change the energy stored in it by a number of methods, as a result of which a particularly flexible and accurate adjustment element can be produced. For example, it may be possible to to modify the (potential) energy stored in this energy cell, in parallel or instead of other possible changes, also by changing the material properties of the energy cell (in this case, for example, the spring constant or the preset voltage).

Furthermore, the present loading device can also have a changing mechanism that can preferably be adapted to the structure of the tool magazine and modified for the precise insertion and removal of tools, in particular for changing tools with the respective tool magazine. For this purpose, the transfer device can first be set up to be able to move up to the already mentioned second tool change position defined for the tool change with the tool magazine, whereby the latter does not necessarily have to be a fixed location due to the extremely flexible structure of the loading device, but preferably only any position along the Travel of the transfer device can represent, in which the transfer device to change tools with the tool magazine is interactable. In a particularly preferred exemplary embodiment, however, the loading device can at least be set up in such a way that the transfer device selects the second tool change position that is most effective for the tool change process, i.e. the shortest in terms of time, for each tool change.

Positioned at this second tool changing position, the transfer device can then be set up to carry out a plurality of firmly defined movement sequences, preferably depending on whether a tool is to be inserted into the magazine or removed from it. For example, the transfer device can be configured to insert a tool held on the gripper arm of the manipulator segment into the magazine in a first step, to position the tool to be exchanged precisely in front of the holder of the magazine, so that, regardless of the starting position of the transfer device, after this first step, the respective tool is positioned at least, oriented along its longitudinal axis, in front of the holder of the magazine to be used as a storage location. For this purpose, as a particularly preferred mechanism, the first step can consist of a pivoting movement of the manipulator segment carrying the tool together with the gripper arm, preferably at least about a gripper arm axis of rotation aligned parallel to the travel path of the transfer device. In other words, the manipulator segment for tool changing with the tool magazine can be moved at least from a first transport position, preferably used for transporting a tool between the first and second tool change position, with this transport position preferably also being used to hold and transfer the tool to the loading area itste 11 u ngsstati on can be used, and a second magazine position oriented to the tool change with the magazine and can be pivoted back. This has the advantage that after this first pivoting, the tool to be inserted in the gripper arm can already be adapted precisely to the alignment conditions of the respective tool magazine, based on the orientation of the magazine holder of the tool magazine, so that the tool, after a preferred first step, is already arranged with its longitudinal axis parallel to the insertion direction of the magazine holder to be used. In relation to the above-mentioned movement sequence, this mechanism, as well as the following movement sequences to be mentioned for tool changing, can preferably be implemented by the already mentioned guide elements of the transfer base body, whereby, as with the tool change with the driver, the movements of the gripper arm or The manipulator segment can be carried out independently of the actual movement of the transfer device.

In a second step, the tool already aligned for the magazine along its longitudinal axis can then be introduced into a predetermined holder of the tool magazine by at least one further linear movement aligned along this longitudinal tool axis. Since the alignment of the tool around the longitudinal axis of the quiver has already been passed through the intervention device described above, further orientation or adjustment of the tool is no longer necessary and the tool change with the magazine can be limited to just a few process steps, which is an effective and time-saving process scheme. Preferably, however, at least the tool-carrying manipulator segment can also be oriented so that it can be moved by further transverse movements transverse to the longitudinal axis of the tool to be loaded, so that, particularly if the structure of the magazine does not allow the tool to be inserted after the first pivoting movement, the tool to be loaded still oriented in front of the magazine holder and can finally be inserted into the magazine using the method described in the second step. In addition, the removal of a tool stored in the magazine can preferably be carried out by a removal mechanism that is opposite to the insertion mechanism described above, that is to say that it reverses. In this case, the gripper arm of the manipulator segment can preferably, as already mentioned when changing tools with the delivery station, grip around a tool to be removed at the tool interface and move it in a straight line (previously described as the second step) along the longitudinal axis of the tool remove from the magazine holder. The manipulator segment, together with the tool-carrying gripper arm, can then also pivot preferably from the magazine position at least into the previously described transport position and thus initiate transfer to the delivery station.

In conclusion, it can be seen that the aforementioned technical features of the present invention allow a loading device for a tool magazine to be prepared, which is extremely efficient, automatable and sometimes individually adaptable to a magazine to be used tool change process enabled. With regard to the automation process, the loading device can additionally include at least one control unit, which controls at least the aforementioned machine elements, for example by a predefined digital process sequence implemented in the control unit, and thus enables a tool change process that is as efficient as possible. In a particularly preferred exemplary embodiment, the loading device can, in addition to said control unit, also have at least one receiver unit accessible for external signals, which can receive control signals from external sources, for example, and forward them to the control unit for external control of the loading device.

It can preferably also be possible for the present loading device to be connectable to a central control module, for example an external server system that is frequently used in larger process sequences, and/or to the control system of the tool magazine to be used and/or the machine tool , which enables an even more effective tool change process. In a particularly preferred exemplary embodiment, it may therefore also be possible for the loading device to control the tool changing process automatically, through communication with the central control module and/or the control system of the tool magazine or the machine tool, so that a desired tool is loaded into a introduces and/or removes from the tool magazine the time explicitly required by this control source. In this respect, the present loading device is able to be easily and efficiently integrated into the tool change process of a machine tool, so that not only waiting times due to tools missing in the tool magazine are reduced to a minimum, but also a tool that is no longer needed is automated can be made available again, for example for use in machines working in parallel.

In addition, such a control system can also be used to improve the actual tool change process. It can preferably be possible, for example, that in addition to the actual control commands from the central control module and/or the machine tool or the tool magazine, further information such as tool data, process data and/or system data can also be transmitted to and from the loading device . So the present loading device can preferably, for example, in the Be able to provide tool information in the form of tool data, such as the type of tool, the required or existing tool orientation, geometry or to maintain the tool condition and to adapt the tool change process on the basis of this data.

In a particularly preferred exemplary embodiment, the loading device can therefore also be set up in such a way that it receives tool data relating to a tool to be loaded and, as a result, depending on the information thus obtained about at least the tool type and the required and/or existing tool orientation of the tool for the tool magazine, at least least automatically resets the tool orientation required for precise introduction into the tool magazine for each tool, in particular in the form of a specific, newly defined transfer angle of rotation.

Conversely, however, it can also be possible for the present loading device to generate tool data itself and to send it to the external server system or the machine tool and/or the tool magazine in order to improve the overall machining process of the machine tool. Preferably, for example, the above-mentioned sensor system implemented in the loading device and the measurement of a tool to be implemented as a result can also generate information regarding the tool type, the tool orientation or the tool properties of a tool that is currently to be changed and initially store it as tool data, for example in an internal memory cher of the loading device. As already described, these can then also be used to adapt the tool change process in the loading device, but preferably also by sending and receiving data with the external server system and/or the machine tool to the latter, for example to a centrally usable data memory, distributed and updated there. Ultimately, a tool change process can thus be implemented with the help of the present invention, which is achieved by the specified technical features not only enables a fully automatic and externally controllable exchange of tools from a tool magazine, but also significantly improves the entire machining process within the machine tool by generating tool information, coordinating with existing tool processes and dynamic tool changes to minimize downtimes.

Brief description of the figures

FIG. 1 shows a first view of the loading device according to the invention together with the tool magazine and machine tool with the transfer device in the second tool changing position and the tool supply bar in the second supply position;

FIG. 2: shows the loading device of FIG. 1 in a side view and a detailed view of the transfer device, the tool-ready bar and the engagement device of the loading device;

FIG. 3A: shows the detailed view of the loading device of FIG. 2 with the manipulator segment of the transfer device in the magazine position and the gripping arm of the manipulator segment surrounded by a tool;

FIG. 3B: shows the detailed view of the loading device of FIG. 2 with the manipulator segment of the transfer device in the transport position and carrying a tool removed from the magazine;

FIG. 4A: shows the detailed view of FIG. 3B from a top view;

FIG. 4B: shows the top view of FIG. 4A with the transfer device in the first tool change position and the manipulator segment pivoted by a transfer angle of rotation that is specific in comparison to FIG. 4A and the transfer device in the first tool change position;

FIG. 5A shows a detailed view of the transfer device and the tool supply bar according to FIG. 4B as a front view with the transfer device in the first tool changing position and the tool supply bar in the second supply position; FIG. 5B: shows the detailed view of FIG. 5A with the transfer device in the first tool changing position and the tool readying bar raised for the transfer of the tool carried on the manipulator segment;

FIG. 6A: shows a detailed view of the transfer device and the engaging device with the manipulator segment in a first manipulator position and the movable driver of the engaging device with a first driver position;

FIG. 6B: shows the detailed view of FIG. 6A as a front view;

FIG. 6C: shows the detailed view of FIG. 6A as a plan view;

FIG. 7A: shows a detailed view of the transfer device and the engagement device with the manipulator segment in a second manipulator position pivoted by a transfer rotation angle in relation to the first manipulator position and the movable catch of the engagement device in a second catch position;

FIG. 7B: shows the detailed view of FIG. 7A as a front view;

FIG. 7C: shows the detailed view of FIG. 7A as a plan view;

Figure 8 shows the plan view of Figure 1; Detailed description of preferred embodiments

In the following, exemplary embodiments of the present invention are described in detail using exemplary figures. The features of the exemplary embodiments can be combined in whole or in part, and the present invention is not limited to the exemplary embodiments described.

FIG. 1 shows the recognizable form of an embodiment of the loading device BL together with a tool magazine M, which is designed here as a chain magazine, and an exemplary embodiment of the machine tool WM belonging to the tool magazine M. The loading device BL comprises a carrier system 2 as a basis, which consists of a first, horizontally aligned carrier structure 4 that defines the travel path of the transfer device 14 and a vertically aligned second carrier structure that holds the travel path of the tool supply bar 10 and the first carrier structure 4 6 includes. In this case, the support structures 4, 6 are designed as framework structures, so that optimal stability of the loading device BL and the associated elements can be guaranteed at all times. In addition, the first support structure 4 was aligned in such a way that its longitudinal axis is parallel to the longitudinal axis of the tool magazine M and thus in particular transverse to the longitudinal axis of the tools W arranged within the tool magazine M, resulting in a particularly accurate tool change path for a tool W within the loading device B can be realized. In order to be able to guarantee a tool changing system that is as versatile as possible and, in certain cases, also as easy as possible to attach and detach, the carrier system 2 is also constructed in such a way that it can carry its own load and can be installed arbitrarily, i.e. without additional fastening or support means can remain in the upright position seen in FIG. For this reason, the first support structure 4 that can be seen in FIG can also be fastened to this or at least detachably mounted, for example with a tongue and groove connection, a rivet connection, a connection fitting or teeth.

In this exemplary embodiment, the supply station 7 is attached to the second support structure 6 and comprises a running rail 8 which is parallel to the second support structure 6 and is therefore also vertically aligned, as well as the tool supply strip 10 which can be moved on this running rail 8 and which is already in the second Ready position BP2, that is, shown positioned for tool change with the transfer device 14. As already mentioned, this tool staging rail 10 can be moved along the rail 8 at least from this second staging position BP2 shown to at least a first staging position, which in this case is further down, and back, so that at least in the first staging position a removal can take place or the addition of tools W to the tool supply bar 10 is made possible. A tool change with the tool staging bar 10 at the first staging position can be manual, but in a preferred example also automated, in particular via an externally operated transport unit or a tool transport vehicle specially designed for tool changing on the loading device BV. such as a transport vehicle without a floor conveyor, a driverless transport vehicle or a pallet truck with an integrated tool changing mechanism. The latter has the particular advantage that the loading device shown can be used to precisely and efficiently connect machine tools to a fully automatic machine system.

In addition to a motor 11 attached to the underside for moving the tool supply bar 10, the tool supply bar 10 also has a row of parallel-aligned supply holders 12, in which in this case at least eight tools W to be exchanged are placed and positioned for delivery to the transfer device 14 be able. As can be seen in Fig. 1, the deployment brackets 12 are also parallel to the Longitudinal axis of the first support structure 4 and thus aligned parallel to the travel path of the transfer device 14 and the longitudinal axis of the tool magazine M, whereby, in particular by moving the transfer device 14 along the travel path up to a tool-defined position directly in front of the respective tool (first tool change position WWP1), a working distance that is the same for the transfer device 14 to each of these stored tools W can be realized. As already described, the supply holders 12 themselves have special holding mechanisms which convert an inserted tool W into an alignment optimized for tool changing with the transfer device 14 as soon as it is entered into the tool supply bar 10 . In the present exemplary embodiment, the supply holders 12, for example, force the longitudinal tool axis to be aligned in at least the vertical direction and are designed at least in such a way that, regardless of the type of tool holder in question, each stored tool W ultimately ends up in the tool supply rail 10 in an identical tool orientation rotated around the tool longitudinal axis. As an example, each tool W can have a hollow shank taper, a steep taper or a Morse taper as a tool holder and must be oriented in the supply holder by the holder mechanism in such a way that the index notch of each holder must first be aligned transversely to the direction of travel of the transfer device 14.

FIG. 2, which again shows the structure of the loading device BL of FIG. see enlargement below), even more precisely. The advantage of such a holding mechanism is that the tools W that have been successfully introduced into the tool supply bar 10 are already in a predefined orientation, i.e. for transfer to the tool magazine M and the alignment required for this of each tool W as a starting standard or as an initial Calibration of the tool orientation can be used. In other words, this initial orientation in the present exemplary embodiment only enables the actual introduction of the tool W into the tool magazine M, since the known initial orientation of the tool W and the final orientation ultimately required within the tool magazine M result in the transfer angle required for reorientation ÜW can now be determined to a particularly precise degree. In addition, it can also be seen in Fig. 2 that the supply mount 12, in addition to the orientations mentioned, also accommodates at least part of the tool included in the supply mount 12 as a tool interface 13 for contacting the tool W with the manipulator segment 16 of the transfer device 14 disclose, whereby an efficient and at the same time well-defined method for removing and inserting tool W from the tool deployment bar 10 is realized.

The transfer device 14 is also shown on the right-hand side of the loading device BV shown in FIGS. In this exemplary embodiment, the latter includes, in particular, a transfer base body 18 attached to a motorized guide carriage for moving the transfer device 14 along the predefined travel path, as well as the manipulator segment 16 that is detachably contacted to this transfer base body 18. The travel path of the transfer device 14 itself is defined by a path along the guide rail 22 attached to the first support structure 4 and connected to the guide carriage of the transfer device 14, which makes it possible for the transfer device 14 to move at least parallel to the longitudinal axis of the tool magazine M and thus transversely to the longitudinal axis of the tools W stored therein and the direction of travel of the tool supply bar 10 . The transfer main body 18 of the transfer device 14 also includes a plurality of independently acting and coupled to the manipulator segment 16 guide elements, so that the manipulator segment 16 is at least set up to move horizontally, but in a special case equally vertically, as well for precise interaction with the tool magazine M to pivot about a parallel to the traversing path of the transfer device 14 aligned gripper arm axis of rotation GAA. In addition, the manipulator segment 16 has at least one gripper arm 17, which is configured in particular to grip a tool W stored in the tool supply bar 10 and the tool magazine M in a fixed manner at the aforementioned tool interface 13 and with the aid of the movement mechanisms made possible by the guide elements of the transfer device 14 to be transported further. The realignment of the tool W to be loaded required for the tool change between the supply station 7 and the tool magazine M is also described by a further axis of rotation defined around the longitudinal axis of the tool W carried by the manipulator segment 16, also referred to as the manipulator axis MPA (see, for example, Fig. 5B). , Allows, which realizes a pivoting of the manipulator segment 14, and thus of the gripper arm 17 carrying the tool W, to the desired transfer angle ÜW.

Between the transfer device 14 and the tool supply bar 10, the engagement device 20, which is set up for setting the last-mentioned transfer angle of rotation ÜW, is also attached directly to the travel path of the transfer device 14, i.e. in particular between the first tool change position WWP1 and the second tool change position WWP2 of the transfer device 14. which is to be specified later. The mode of operation of the latter will now first be explained by a description of a typical tool change made possible by means of the loading device BV with the present tool magazine M. It should be noted that the tool changing mechanism of the present loading device BV described here does not only have to be limited to removing a tool W from the tool magazine M, but can also contain an input of any tool W to this magazine M. In a particularly preferred case, the reverse process of tool removal can also be used to load a tool W into the tool magazine M. For this purpose, FIGS. 3A and 3B first show the process of removing a tool W from the tool magazine M made possible by the transfer device 14. FIG. 3A describes the starting point at which the transfer device 14 is initially positioned in the second tool change position WWP2 and is present in the magazine position MGP with the manipulator segment 16 pivoted about the gripper arm axis GGA. The gripping arm 17 of the manipulator segment 16 already grips the tool W to be used for changing tools so that it can be removed from the respective receptacle 19 of the tool magazine M by further movements of the manipulator segment 16 .

For this reason, a first step of the tool change process using the present invention provides for the selected tool W to be moved from the position stored in the magazine to a transport position TP suitable for further transport with the transfer device 14 using defined movements on the part of the manipulator segment 16 (see Fig 3B) to convert. For this purpose, the manipulator segment 16 is initially set up to remove the contacted tool W from the holder 19 using a first transverse movement along the longitudinal axis of the tool W and to position it in such a way that it is only gripped by the gripper arm 17, free in front of the previous one magazine holder 19 used as storage space is oriented. Thanks to the degrees of freedom gained in this way, the tool W can then be oriented by a pivoting movement of the manipulator segment 16 about the gripper arm axis of rotation GAA in such a way that its longitudinal axis is already oriented parallel to the longitudinal axis of the tools W stored in the tool supply bar 10, thereby enabling a subsequent alignment and transfer of the Tool W to the latter can be significantly simplified. Depending on the transverse alignment of the manipulator segment 16 required for removal from the tool magazine M, the transfer device 14 is also set up to move the manipulator segment 16 finally, in a third procedural step, with the aid of the aforementioned guide elements of the transfer base body 18 set up for transverse movement. to a certain, as trans- port position TP predefined to move position, whereby the transfer device 14 is ultimately converted into a state ready for transport. The latter step is necessary in that the movement of the manipulator segment 16 to the transport position TP allows the manipulator segment 16 to be adjusted in particular for interaction with the engagement device 20 and thus for the resulting alignment of the tool W carried.

Figures 4A and 4B also show the next section of the tool change process of the loading device BV described above, in which the tool W now present in the transfer device 14 is moved along the guide rail 22 from the second tool change position WWP2 of the transfer device 14 (Figure 4A) to the first tool change position WWP1 will go to the tool change with the tool supply rail 10 of the supply I u ngsstation 7 (Figure 4B) ver. FIG. 4A thus again shows the initial situation of FIG. 3B.

Since, as described, a problem with many existing loading devices is orienting a tool W removed from a tool magazine M in such a way that it is compatible with the structural receiving conditions of the loading devices (here, for example, the supply mounts 12 of the tool supply bar 10). to solve this technical problem in the present invention, an automated alignment mechanism integrated into the loading device BV is implemented. For this purpose, in the present exemplary embodiment, the gripping device 20 is set up in such a way that by moving the transfer device 14 along the travel path from the first to the further tool change position WWP1, WWP2 and back, the manipulator segment 16 interacts with the gripping device 20 in such a way that the manipulator segment 16 (and thus the tool W carried by it) pivots about the manipulator axis M PA aligned along the longitudinal axis of the tool W precisely by the specific transfer angle of rotation ÜW, so that the tool W carried only has to be introduced into the tool supply bar 10 with subsequent linear movements . Figures 4A and 4B show this pivoting movement explicitly. In FIG. 4, the transfer device 14 is also shown in the second tool changing position WWP2, so that in this case no interaction with the engagement device 20 has yet been realized. However, the manipulator segment 16 is also in this position already aligned at a predefined angle around the manipulator axis MPA (first manipulator position M PI), which results in particular from the tool change with the tool magazine M and thus continues for this (in a hypothetical second tool change process) is applicable. If the transfer device 14 is now moved along the guide rail 22 in the direction of the tool supply bar 10 and the transfer device 14 reaches the present engagement device 20, then at least the manipulator segment 16 of the transfer device 14 interacts with the engagement device 20 in such a way that it is at least at the first tool change position reached WWP1 of the transfer device 14 is present in an orientation (second manipulator position MP2) pivoted by the transfer angle of rotation ÜW (see also FIG. 4B). Consequently, in a last step for the introduction of the tool W to be exchanged into the tool supply bar 10, the latter only has to be guided to a supply holder 12 to be used by means of linear, preferably horizontally aligned movements on the part of the manipulator segment 14, so that a final, extremely effective and particularly transfer process suitable for automatic processes can be implemented.

FIGS. 5A and 5B show this transfer process of the tool W held by the transfer device to the tool supply bar 10 of the supply station 7 in a detailed view. In the process step shown in FIG. 5A, the tool W to be exchanged is already, as in FIG. In particular, in this position the tool W is positioned directly above the staging fixture 12 to be used, still with the orientation generated by the engagement device 20, so that the tool can be inserted into the tool staging fixture 10 by a further vertical movement can. In this case, the latter vertical movement is carried out in this exemplary embodiment by the approach of the tool supply bar 10 to the tool which is still held by the gripping arm 17 . In particular, the tool staging bar 10 is set up in such a way that, after a tool W to be loaded has been positioned above a free staging holder 12 on either side of the manipulator segment 16, it slowly approaches the tool W until it finally, preferably independently, leaves the staging holder 12 can be worn. Due to the transfer to the tool ready position bar 10 that takes place in this way, the gripper arm 17 can then release the contact with the tool W at the tool interface 13 and thus successfully complete the introduction of the tool into the delivery station 7 .

FIGS. 6A to 60 and 7A to 70 also show the tool alignment by means of the engagement device 20 in detail once again. Figures 6A, 6B and 60 show the alignment of the manipulator segment 16 shortly before the interaction with the gripping device (seen from the tool removal process described above) or in the orientation determined for the tool change with the tool magazine M in a three-dimensional view (Figure 6A), a two-dimensional front view (Figure 6B) and a two-dimensional top view (Figure 60). FIGS. 7A to 70, on the other hand, correspond to the equivalent representation of this process after interaction with the engagement device 20 or with the manipulator segment 16 in the orientation oriented for the tool change with the tool-ready bar 10.

For a more precise specification of the interaction between the engagement device 20 and the manipulator segment 16 that leads to the alignment of the manipulator segment 16, the structure of the engagement device 20 should first be described in more detail: The engagement device 20 of the present exemplary embodiment firstly comprises a movable driver 24, configured as parallel to the travel path the transfer device 14 aligned and at least one driver compression spring 34 containing swivel arm 30, which is fixed at a lower end to a rail base body 31 of the engagement device 20 and at one the other end includes an engaging portion 26 formed complementary to a pivot member 28 mounted on the manipulator segment 14 . Since the mobile driver 24 itself is pivotable about at least one driver axis of rotation MDA (see e.g. FIG. 6C) due to the swivel arm mechanism designed in this way and can be present in at least two equilibrium positions due to the equilibrium ratios of the driver compression spring 34 implemented. FIGS. 6A to 6C show the driver 24 in a first equilibrium position, also known as the first driver position MSI, and FIGS. 7A to 7C show the second equilibrium position, also known as the second driver position MS2. The part of the driver 24 that encompasses the engagement section 26 is also let into a driver guide rail 32 connected to the rail base body 31, which is also aligned parallel to the travel direction of the transfer device 14 and is set up to accommodate at least the pivoting element 28 of the manipulator segment 16.

As a result, the interaction of the manipulator segment 16 with the gripping device 20 can be described as follows: If the transfer device 14 travels along the travel path from the first tool change position WWP1 to the second tool change position WWP2 or back, the manipulator segment 16 is set up based on the predefined transport position TP that during the process, in addition to the engagement device 20, the pivoting element 28 attached to the manipulator segment 16 moves into the driver guide rail 32 of the engagement device 20 and thus causes a time-dependent movement restriction of the manipulator segment 16 (movements of the pivoting element 28 are directed in directions parallel to the travel path of the transfer device ng 14, see eg Figure 6B). If the transfer device 14 now moves further along the specified travel path, the engagement section 26 of the movable carrier engages in the pivoting element 28 at a predetermined position due to the one-dimensional guidance of the pivoting element 28 and thus contacts the movable carrier 24 at least with the manipulator segment 16 the transfer device 14. This contact, however, has the consequence that the further Driving the transfer device 14 along the travel path and the resulting movement of the pivoting element 28 or pivoting of the engagement section 26 about the driver axis of rotation MDA, an increasing pressure spring 34 in the driver and the movement of the pivoting element 28 counteracting force is generated. In this respect, the present driver compression spring 34 can also be viewed as a mechanical movement damper of the pivoting element.

Following this circumstance, depending on the properties of the driver pressure spring 34, from a certain position of the pivoting element 28 and the counterforce of the driver pressure spring 34 thus generated, a limitation of the pivoting element movement can be effected, which, due to the continuing process of the transfer device, From this point on, the transfer base body 18 of the transfer device 14 is increasingly moved away in relation to the pivoting element 28 and thus a pivoting of the manipulator segment 16, which is simultaneously connected to the transfer base body 18 and the pivoting element 28, acts. However, if the pivoting of the driver section containing the engaging section 26 reaches the state of maximum compression spring contraction, i.e. the case that both sections of the movable pivot arm 30 are aligned parallel to one another, as the transfer device 14 moves further, the time required for the pivoting is reduced again of the manipulator segment required counterforce within the driver compression spring 34, up to the point at which the pivoting element 28 is released again from the engagement section 28 due to the fixation of the movable driver 24 and thus the movable driver 24 by the self-adjusting equilibrium position of the driver compression spring 34 leads to the second driver position MS2.

In this exemplary embodiment, however, the setting of the transfer angle of rotation ÜW resulting from the pivoting is made possible by an energy store implemented as a second compression spring, also known as the manipulator compression spring 36, which moves the manipulator segment 16, more precisely the pivot center of the Manipulator segment 16, in addition to the transfer body 18 of the transfer device 14 rotatably and mechanically interactingly connects and is set up to effect a fixation of the manipulator segment alignment when the manipulator compression spring 36 reaches an equilibrium position, ie a state of minimal potential energy.

The manipulator compression spring 36 of the present exemplary embodiment has at least two of these equilibrium positions and thus enables the two previously described alignments of the manipulator segment 16 for changing tools with the tool magazine M and the supply station 7 (see, for example, FIGS. 6A to 6C and 7A to 7C). As an example, the alignment of the manipulator compression spring 36 shown in FIGS. 6A to 6C is to be defined as the first equilibrium position and the alignment shown in FIGS. 7A to 7C as the second equilibrium position. The transfer of the manipulator compression spring 36 from one equilibrium position to the other takes place automatically as a consequence of the manipulator segment alignment realized by the driver device 20: If, for example, the manipulator segment 16 is pivoted by the driver mechanism described above from the alignment shown in FIGS the manipulator compression spring 36 is also displaced by an angle of rotation defined by its point of contact with the manipulator segment 16 and is initially forced to deviate from its first equilibrium state, ie in the mechanical sense, an increasing contraction. Continuing this state, the manipulator compression spring 36 can then be transferred from its first equilibrium position to its second equilibrium position (see also Figures 7A to 70), in that the maximum potential hurdle generated by this process (maximum Contraction point of the manipulator pressure spring 36 along the pivoting movement of the manipulator segment 16) within the Ma nipulator pressure spring 36 is overcome. As a result, it is possible with the aid of the above-mentioned two-state mechanism of the manipulator compression spring 36 to ensure an extremely efficient and at the same time automatable adjustment of the transfer angle of rotation ÜW of the manipulator segment 14 . Due to the fact that the definition of the transfer angle ÜW is based solely on the mechanical device of two equilibrium states to be set and this is due to the contacting of the manipulator pressure spring 36 with the manipulator segment 16 passively, i.e. without bringing additional control or drive units, only as a side effect of the manipulator segment pivoting can be converted into one another, an adjustment mechanism that is extremely adaptable and can be integrated into any system can be implemented. In addition, an accurate change in the equilibrium conditions of the manipulator pressure spring 36 allows a safe and therefore error-free possibility of being able to freely set the transfer angle of rotation ÜW at any time. In the present exemplary embodiment, for example, it is possible to use an additional control mechanism on the manipulator compression spring 36 to controllably change its material properties, such as the spring constant, spring tension or spring length, so that the positions of the equilibrium positions of the manipulator compression spring 36 and thus the the manipulator segment alignments associated with this equilibrium weight position or the resulting transfer angle of rotation ÜW can be adjusted without negatively influencing other machine elements or even mechanisms. Furthermore, the above interaction between manipulator compression spring 36 and manipulator segment 16 allows for both extremely easy replacement and complete modification of the compression spring mechanism. As a result, for example, in addition to the manipulator compression spring 36 mentioned here, a completely different type of energy store, for example a pneumatic machine or a machine controlled by electrical resistances, can be integrated into the manipulator segment 16 without great effort.

Thus, the loading device BV shown here offers a cost-effective, adaptable, but particularly efficient device for changing tools W, especially for machine tools WM and that are difficult to access Magazine M. Furthermore, the above-mentioned elements of the loading device BV, as well as the tool changing and transport processes that can be implemented as a result, have the serious advantage that the overall process for changing tools W between the loading device BV and the tool magazine M is completely automatic can be carried out so that, especially in combination with the high degree of customization of the device and the integration made possible in this way in machine tools WM that previously could only be loaded manually, a significant increase in efficiency can be achieved in the latter.

Figure 8, which again shows an overall view of the loading device BV together with the selected tool magazine M of the machine tool M, illustrates these advantages once again: Due to the advantage that the present loading device BV consists of at least two mutually independent transport mechanisms (movement of the tool supply bar 10 and movement of the transfer device 14), the geometric structure of the loading device BV, in particular the alignment of the support structures 4, 6, can be adapted entirely to the conditions of the tool magazine M to be loaded in each case, resulting in as individual as possible and thus maximum for the respective work area efficient device structure can be realized.

Furthermore, both the tool changing method at the supply station 7 and at the transfer device 14 allow maximum individuality in the integration of the loading device BV. For example, the large number of degrees of freedom of movement that the manipulator segment 16 has due to the transfer base body 18 of the transfer device 14 allow a tool transfer and removal mechanism that can be adapted depending on the magazine structure, whereby the present loading device BV can potentially be used on all externally contactable tool magazines M can be used. For example, in another embodiment, due to the structure of the machine tool WM, the traversing path of the transfer device 14 is not above but at the same height, aligned transversely or even below the tool magazine WM be, and yet a tool change could be carried out effectively using the present loading device BV by appropriately moving the manipulator segment 16, in particular by the aforementioned removal and takeover mechanisms. In addition, as already described, the staging station 7 also offers the option of handing over the tool W to the loading device BV or removing it from it both manually and automatically, for example via transport units that can interact with the tool staging bar 10, which not only a fully automatic process development favored, but also a connection of a previously independent machine tool WM in an automatic machine system can be realized.

In a further exemplary embodiment, the present loading device BV can also be used to integrate the machine tool WM into such a machine system, in that tools are transported with the aid of automated transport units between individual machine tools WM connected to the exemplary embodiment of the loading device BV and exchanged via the respective loading devices can become. The loading device BV as such can thus be used equally as a link for machine tools WM that otherwise only function separately.

Furthermore, it may preferably also be possible to connect the loading device BV in terms of data technology to one or a plurality of machine tools WM. For this purpose, as described above, there can be a receiver and transmitter unit on each loading device BV, for example, which receives tool data relating to tools W to be exchanged from the machine tool WM, another loading device BV or an external source, such as a central server and can use this within the BV loading device to optimally adjust the tool change process or even make it possible in the first place. In another preferred exemplary embodiment, an automated tool change can be set up, for example using tool data received, in such a way that the loading device BV evaluates the tool data and calculates a tool change process that is individually optimized for each tool to be changed - sometimes by identifying an optimal transfer angle ÜW, an optimal transfer time and/or refusing the tool change if this does not meet the corresponding requirements of the loading device BV. Equally, however, the loading device BV can also record tool data relating to a tool W to be loaded, for example using an integrated sensor system, and send this to the machine tool, another loading device BV and/or machine tool WM or the external source, so that the present invention can be used to create an intercom - Communicative machine system WS is made possible.

Claims

patent claims

1. Loading device (BV) for changing tools (W) of a magazine (M) on a machine tool (WZM), with:

- A transfer device (14) for transferring tools (W) to the magazine (M), the transfer device (14) being configured to be movable ver along a travel path and having a manipulator (16) pivotable about at least one axis; and

- A delivery station (7) for the delivery of tools (W) for the movable transfer device (14); wherein the loading device (BV) for changing tools on the magazine (M) is set up in such a way that the transfer device (14) moves along the travel path at least between a first tool changing position (WWP1) for changing tools (W) with the delivery station (7) and a second tool changing position (WWP2) for changing tools (W) with the magazine (M) and can be moved back, and wherein the loading device (BV) has an engagement device (20) for aligning the manipulator (16) by at least one transfer angle of rotation (ÜW) having.

2. Loading device (BV) according to claim 1, wherein the engagement device (20) is set up to adjust the tool orientation of a picked-up tool to swivel the manipulator (16) during the movement of the transfer device (14) at least by the transfer rotation angle (ÜW).

3. Loading device (BV) according to claim 1 or 2, wherein the loading device is set up to carry out the changing of the tool (W) on the magazine (M) preferably automatically; and wherein the magazine (M) is preferably designed as a chain magazine.

4. Loading device (BV) according to at least one of the preceding claims, wherein the engagement device (20) has a movable driver (24), and the movable driver (24) is set up to adapt the tool orientation, the manipulator (16) when moving the Transfer device (14) between at least the first tool change position (WWP1) and the second tool change position (WWP2) by at least one transfer angle of rotation (ÜW) to pivot; and the axis of the transfer angle of rotation (ÜW) is preferably aligned parallel to the longitudinal axis of the tool (W) to be changed.

5. Loading device (BV) according to at least one of the preceding claims, wherein the manipulator (16) has at least one gripper arm (17) for grasping at least one tool (W) held in a holder (19) of the magazine (M), and the gripper arm (17) for the tool change on the magazine (M) at least about a gripper arm rotation axis (GAA) from a transport position (TP) for holding and transferring the tool (W) to at least the delivery station (7) to a magazine position (MGP) for tool change of the tool (W) with the magazine (M) and can be pivoted back; wherein the axis of rotation of the gripper arm (GAA) is preferably aligned transversely to the longitudinal axis of the tool (W) to be changed; and the gripping arm (17) is preferably pivotable independently of the movement of the transfer device (14).

6. Loading device (BV) according to at least one of the preceding claims, wherein the movable transfer device (14) is set up in such a way that the gripper arm (17) for tool changing at least one tool (W) with the magazine (M) about the gripper arm axis of rotation ( GAA) pivots from the transport position (TP) to the magazine position (MGP) and encompasses at least one tool (W) at a tool interface (13), and the gripper arm (17) is set up to move along the longitudinal axis of the tool (W) after pivoting into the magazine position (MGP) for removing and inserting the gripped tool (W) on the magazine (M).

7. Loading device (BV) according to at least one of the preceding claims, wherein the delivery station (7) comprises at least one movable tool delivery bar (10); and the tool supply bar (10) can be moved along a supply travel path from a first supply position for removing and transferring tools (W) to the loading device (BV) to at least a second supply position (BP2) for changing tools with the movable transfer unit (14) and back, and the supply travel path of the tool supply bar (10) between the at least first supply position and the second supply position (BP2) is preferably aligned vertically.

8. Loading device (BV) according to at least claim 7, wherein the movable tool supply bar (10) comprises a plurality of supply holders (12) for positioning tools (W) on the tool supply bar (10), and the supply holders (12) are set up in this way are that for changing tools (W) with the transfer unit (14), the tools (W) positioned on the tool supply bar (10) can be gripped by the gripping arm (17) of the manipulator (16) at the tool interface (13); and wherein the movable tool supply bar (10) for removing and transferring tools (W) on the tool supply bar (10) with the transfer device (14) has a traversing mechanism along the ready 11 u ngsverfa h rweg.

9. Loading device (BV) according to at least one of the preceding claims, wherein the movable transfer unit (14) along a guide rail (22) can be moved translationally from the first tool change position (WWP1) to the second tool change position (WWP2) and back; wherein the guide rail (22) is preferably aligned transversely to the direction of travel of the tool-ready bar (10); and the engagement device (20) is contacted along the guide rail (22), preferably between the first tool changing position (WWP1) and the second tool changing position (WWP2).

10. Loading device (BV) according to at least one of the preceding claims, wherein the transfer device (14) comprises a mechanism for defining the at least one transfer angle of rotation (ÜW) of the manipulator (16); wherein the transfer angle of rotation (ÜW) is between 15° and 90°, preferably 30° to 60°; and wherein the transfer device (14) is set up to automatically define the transfer rotation angle (ÜW) for the tool orientation of the tool (W) to be loaded.

11. Loading device (BV) according to at least one of the preceding claims, wherein the movable driver (24) of the engaging device (20) comprises at least one engaging portion (26) for contacting a pivoting element (28) of the manipulator (16); wherein the engagement section (26) of the engagement device (20) is set up in such a way that when the transfer device (14) is moved along the travel path, the pivoting element (28) engages in the engagement section (26), so that the manipulator (16) rotates at least around the one Transfer angle of rotation (ÜW) is pivoted.

12. Loading device (BV) according to at least one of the preceding claims, wherein the movable driver (24) of the engaging device (20) can be pivoted about a driver axis of rotation (MDA) which is arranged transversely to the travel path of the transfer device (14); and wherein the manipulator (16) comprises a manipulator axis of rotation (MPA) aligned transversely at least to the driver axis of rotation (MDA); wherein the movable driver (24) is set up in such a way that the manipulator (16) is pivoted by the at least one transfer angle of rotation (ÜW) by pivoting the movable driver (24) about the driver axis of rotation (MDA).

13. Loading device (BV) according to at least one of the preceding claims, wherein the transfer device (14) comprises at least one preferably controllable transfer force accumulator (36) for setting the transfer angle of rotation (ÜW) of the transfer device (14); wherein the transfer force storage device (36) is set up, depending on energy stored in the transfer force storage device (36), to define the at least one transfer angle of rotation (ÜW) of the pivoting process of the manipulator (16).

14. Loading device (BV) according to at least one of the preceding claims, wherein the loading device (BV) is set up by the machine tool (WM), the tool magazine (M) or an external server system, tool data relating to the magazine (M) removed tools (W) and/or tool data relating to the tools (W) to be changed by the loading device (BV); and the loading device (BV) is set up in such a way that tool data is transmitted to the machine tool (WM), the magazine (M) and/or the external server system.

15. Loading device (BV) according to at least one of the preceding claims, wherein the delivery station (7) and/or the transfer device (14) has a sensor system for identifying the tool (W) to be changed; and the sensor system is set up in such a way that it identifies at least the tool type and/or the orientation of the tool (W) to be loaded and stores it as tool data; and the identification of the tool (W) to be changed is preferably carried out optically by the sensor system; and wherein the loading device (BV) comprises an internal memory for storing the tool data generated by the sensor system.

16. Loading device (BV) according to at least one of the preceding claims, wherein the loading device (BV) is set up in such a way that, depending on the tool type and/or the tool orientation of the tool (W) to be loaded, it changes the transfer angle (ÜW) of the manipulator ( 16) readjusts; at least the tool data of the sensor system and/or the external server system being used to identify the tool type and/or the tool orientation of the tool (W) to be changed.

17. Loading device (BV) according to at least one of the preceding claims, wherein the loading device (BV) has a detachable contact, such as with a tongue and groove connection, a rivet connection, a connection fitting or teeth, with the magazine (M) and/or the machine tool (WM); and wherein the loading device (BV) is connected to the control system of the magazine (M) and/or the machine tool (WM), so that the loading device (BV), depending on the tool type and/or the tool orientation of the tool (W) to be loaded , the magazine (M) and the staging station (7) automatically controls and the magazine (M) and the staging station (7) automatically transfers the tool (W) to be exchanged with a predefined tool orientation.

18. Tool loading system (WS) for changing tools (W) of a magazine (M) on a machine tool (WM), comprising:

- The loading device (BV) according to at least one of the preceding claims; and

- At least one machine tool (WM) contacted with the loading device (BV) of the magazine (M) and/or at least one tool transport vehicle configured for transporting and changing tools (W) to the loading device (BV), particularly preferably a transport vehicle without an industrial truck , an automated guided vehicle or a pallet truck.

19. Method for changing tools (W) of a magazine (M) on a machine tool (WZM) by means of a loading device (BV) according to at least one of the preceding claims, comprising the steps:

- Changing at least one tool (W) by the manipulator (16) of the transfer device (14) with the magazine (M) and the delivery station (7);

- Moving the tool (W) to be loaded by means of the transfer device (14) along a travel path between at least a first tool changing position (WWP1) for changing tools (W) with the ready position (7) and a second tool changing position (WWP2) for changing from tool (W) to magazine (M) and back;

- Pivoting the manipulator (16) to adjust the tool orientation by at least one transfer angle (ÜW).

20. The method according to claim 19, wherein at least one of the following steps is additionally carried out:

- Pivoting the manipulator (16) for changing the tool (W) with the magazine (M) about at least one gripper arm axis of rotation (GAA) arranged transversely to the longitudinal axis of the tool W to be changed;

- Method of the tool supply bar (10) preferably vertically, at least from a first supply position for the removal and transfer of Tool (W) to the loading device (BV) to at least a second ready position (BP2) for changing tools with the movable transfer device (14) and back;

Inserting and removing the tool (W) from the magazine (M) by moving the gripping arm (17) which the transfer device (14) along the longitudinal axis of the tool to be changed (W);

Insertion and removal of the tool (W) to be changed from at least one supply holder (12) of the tool supply bar (10) by means of the movable transfer device (14) by positioning the gripper arm (17) of the manipulator (16) via a selected supply holder (12) and moving the tool supply bar (10) parallel to the longitudinal axis of the tool (W) to be changed;

Setting the transfer angle of rotation (ÜW) of the manipulator (16) based on tool data determined and/or obtained from an external system for the tool (W) to be loaded.